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| Rev 196 | Rev 199 | ||
|---|---|---|---|
| Line 82... | Line 82... | ||
| 82 | u32 ErrorCode = 0; |
82 | u32 ErrorCode = 0; |
| 83 | u16 BeepTime; |
83 | u16 BeepTime; |
| 84 | u8 NCFlags = 0; |
84 | u8 NCFlags = 0; |
| 85 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
85 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
| Line 86... | Line 86... | ||
| 86 | 86 | ||
| 87 | u8 ClearMKFlags = 0; |
87 | u8 ClearFCFlags = 0; |
| 88 | u8 StopNavigation = 0; |
88 | u8 StopNavigation = 0; |
| 89 | Param_t Parameter; |
89 | Param_t Parameter; |
| Line 90... | Line 90... | ||
| 90 | volatile FC_t FC; |
90 | volatile FC_t FC; |
| Line 169... | Line 169... | ||
| 169 | LED_RED_ON; |
169 | LED_RED_ON; |
| 170 | sprintf(ErrorMSG,"bad compass value "); |
170 | sprintf(ErrorMSG,"bad compass value "); |
| 171 | ErrorCode = 6; |
171 | ErrorCode = 6; |
| 172 | StopNavigation = 1; |
172 | StopNavigation = 1; |
| 173 | } |
173 | } |
| - | 174 | else if(FC.Flags & FCFLAG_SPI_RX_ERR) |
|
| - | 175 | { |
|
| - | 176 | LED_RED_ON; |
|
| - | 177 | sprintf(ErrorMSG,"FC spi rx error "); |
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| - | 178 | ErrorCode = 8; |
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| - | 179 | StopNavigation = 1; |
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| - | 180 | } |
|
| 174 | else if(FC.RC_Quality < 100) |
181 | else if(FC.RC_Quality < 100) |
| 175 | { |
182 | { |
| 176 | LED_RED_ON; |
183 | LED_RED_ON; |
| 177 | sprintf(ErrorMSG,"RC Signal lost "); |
184 | sprintf(ErrorMSG,"RC Signal lost "); |
| 178 | ErrorCode = 7; |
185 | ErrorCode = 7; |
| Line 289... | Line 296... | ||
| 289 | if(CheckDelay(TimerCheckError)) |
296 | if(CheckDelay(TimerCheckError)) |
| 290 | { |
297 | { |
| 291 | TimerCheckError = SetDelay(1000); |
298 | TimerCheckError = SetDelay(1000); |
| 292 | if(CheckDelay(SPI0_Timeout)) GPS_Navigation(); // process the GPS data even if the FC is not connected |
299 | if(CheckDelay(SPI0_Timeout)) GPS_Navigation(); // process the GPS data even if the FC is not connected |
| 293 | CheckErrors(); |
300 | CheckErrors(); |
| 294 | if(FC.MKFlags & MKFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
301 | if(FC.Flags & FCFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
| 295 | // else NaviData.FlyingTime = 0; // not the time per flight |
302 | // else NaviData.FlyingTime = 0; // not the time per flight |
| 296 | UART1_Request_SendFollowMe = TRUE; |
303 | UART1_Request_SendFollowMe = TRUE; |
| 297 | if(SerialLinkOkay) SerialLinkOkay--; |
304 | if(SerialLinkOkay) SerialLinkOkay--; |
| 298 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
305 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
| 299 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
306 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |